EP3075685B1 - Beförderungsvorrichtung mithilfe eines autonomen wagens - Google Patents

Beförderungsvorrichtung mithilfe eines autonomen wagens Download PDF

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Publication number
EP3075685B1
EP3075685B1 EP16163587.5A EP16163587A EP3075685B1 EP 3075685 B1 EP3075685 B1 EP 3075685B1 EP 16163587 A EP16163587 A EP 16163587A EP 3075685 B1 EP3075685 B1 EP 3075685B1
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EP
European Patent Office
Prior art keywords
products
station
line
carriage
processing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Revoked
Application number
EP16163587.5A
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English (en)
French (fr)
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EP3075685A1 (de
Inventor
Patrick HUTTER
Jean-Claude WAELDIN
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Sidel Engineering and Conveying Solutions SAS
Original Assignee
Gebo Packaging Solutions France SAS
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Application filed by Gebo Packaging Solutions France SAS filed Critical Gebo Packaging Solutions France SAS
Publication of EP3075685A1 publication Critical patent/EP3075685A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
    • B65G37/02—Flow-sheets for conveyor combinations in warehouses, magazines or workshops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
    • B41J2/315—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material
    • B41J2/32—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material using thermal heads
    • B41J2/335—Structure of thermal heads
    • B41J2/33505—Constructional details
    • B41J2/3351—Electrode layers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
    • B41J2/315—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material
    • B41J2/32—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material using thermal heads
    • B41J2/335—Structure of thermal heads
    • B41J2/33505—Constructional details
    • B41J2/33515—Heater layers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
    • B41J2/315—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material
    • B41J2/32—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material using thermal heads
    • B41J2/335—Structure of thermal heads
    • B41J2/33505—Constructional details
    • B41J2/33525—Passivation layers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
    • B41J2/315—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material
    • B41J2/32—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material using thermal heads
    • B41J2/335—Structure of thermal heads
    • B41J2/33505—Constructional details
    • B41J2/3353—Protective layers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
    • B41J2/315—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material
    • B41J2/32—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material using thermal heads
    • B41J2/335—Structure of thermal heads
    • B41J2/3354—Structure of thermal heads characterised by geometry
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
    • B41J2/315—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material
    • B41J2/32—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material using thermal heads
    • B41J2/335—Structure of thermal heads
    • B41J2/3355—Structure of thermal heads characterised by materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
    • B41J2/315—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material
    • B41J2/32—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material using thermal heads
    • B41J2/335—Structure of thermal heads
    • B41J2/33555—Structure of thermal heads characterised by type
    • B41J2/3357—Surface type resistors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
    • B41J2/00—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed
    • B41J2/315—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material
    • B41J2/32—Typewriters or selective printing mechanisms characterised by the printing or marking process for which they are designed characterised by selective application of heat to a heat sensitive printing or impression-transfer material using thermal heads
    • B41J2/335—Structure of thermal heads
    • B41J2/3359—Manufacturing processes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B11/00—Wrapping, e.g. partially or wholly enclosing, articles or quantities of material, in strips, sheets or blanks, of flexible material
    • B65B11/58—Applying two or more wrappers, e.g. in succession
    • B65B11/585—Applying two or more wrappers, e.g. in succession to stacked articles, e.g. pallettised loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B3/00—Packaging plastic material, semiliquids, liquids or mixed solids and liquids, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/44—Arranging and feeding articles in groups by endless belts or chains

Definitions

  • a conveying solution for a treatment line with an accumulation between two product treatment stations in the unit is by example proposed in EP1497208 and is based on the succession of a module transforming a single-wire stream into a multi-wire stream, an accumulation module of such a multi-wire stream, and then a module for transforming the multi-wire stream into a single-wire stream.
  • carriages 5 thus ensures maximum flexibility depending on the number of products 2 to be processed with the defined format, but also according to the posts 3 involved in the achievement of the defined format, etc.
  • Line 1 comprises in particular a control unit 7 coordinating the movement of the carriages 5 between the stations 2, at least by controlling the positions 3 of departure and arrival of each carriage 5, between which said carriage 5 can freely define its itinerary, or even by at least partially defining certain elements of their course.
  • Line 1 treats the products 2, either individually or in groups.
  • Line 1 is therefore not concerned with the subsequent processing of palletised blocks ready for shipment but contributes to the preliminary production of such blocks ready for shipment, by processing products 2 in the broad sense: unit container or group of container in pack or burden.
  • Line 1 thus provides pre-preparation functions for palletized assemblies to be physically shipped to other premises by truck, boat or other means.
  • the products 2 are therefore placed on the carriage 5, at its upper surface forming the receiving surface 8, in a matrix and not in staggered rows: the products 2 of two rows side by side are at the same level rather than imbricated , each, between two products 2 of the next row.
  • the carriage 5 is unloaded at the next station 3, it is thus possible to unload each successive segment again or even to unload several segments simultaneously.
  • this mode of conveying between two stations 3 makes it possible to avoid the problems associated with the passage of a staggered organized flow to a flow organized in a matrix or in parallel corridors, or even in a single corridor, and vice versa.
  • the manipulator 11 monitors the movement of the products 2 that flow on the output conveyor 10.
  • the manipulator 11 may for example take the form of a robot equipped with a tool at its end, the latter being able to move at the speed of movement of the products 2 or at least the input or output conveyor which ensures the movement, so that it is not necessary to stop the longitudinal movement of the products 2.
  • the tool then moves at the same speed as the products 2 and can seize by batch without it being necessary, for example, to stop the output conveyor 10.
  • This monitoring of the speed circulation can be applied to the exit entry zone 14 after the treatment zone 13, but also before the treatment zone 13, for the supply of the products 2.
  • each carriage 1 is preferably assigned, on the one hand, to an upstream island comprising at least one station 3, and, on the other hand, a downstream island comprising at least one station 3.
  • Each carriage 5 then preferably takes the products 2 to an upstream station 3, deposits them at a downstream station 3, and returns to the upstream station for the next cycle. It will be noted however that the fact of receiving the products 2 by their lower base resting against the receiving surface 8 of the carriage 5 also ensures the versatility of the carriage 5, which is then capable of conveying any type of product 2: container type bottle, any shape, pack, crate, etc. A carriage 5 can therefore be used momentarily for a bidirectional link between another pair of stations 3.
  • the invention is applicable in the case of lines where the stations 3 are each provided with at least one output conveyor 10 for continuously delivering treated products 2, and advantageously at least one input conveyor for receiving continuous products 2 to be treated.
  • Such a line normally processes products 2 in an uninterrupted flow.
  • the carriages 5 then recover products 2 from an output conveyor 10 which delivers them continuously. They can also provide products 3 to an input conveyor which then supplies the station 3 continuously.
  • the stations 10 therefore operate continuously and process products 2 continuously.
  • the cycle of treatment by the stations 3 and the cycle of displacement by the carriages 5 are without interaction.
  • the output conveyor 10 therefore delivers products 2 in continuous flow.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Geometry (AREA)
  • Manufacturing & Machinery (AREA)
  • Intermediate Stations On Conveyors (AREA)
  • Specific Conveyance Elements (AREA)
  • Branching, Merging, And Special Transfer Between Conveyors (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Automatic Assembly (AREA)

Claims (9)

  1. Linie (1) zur Verarbeitung von Produkten (2) am Fließband, welche einerseits mehrere Stationen (3) zur aufeinander folgenden Verarbeitung der Produkte (2) und andererseits ein Bewegungsmittel (4) zum Bewegen der Produkte (2) zwischen den Stationen (3) innerhalb dieser Linie (1) von einer vorgelagerten Station (3) zu einer nachgelagerten Station (3) umfasst, wobei die Produkte (2) vom Typ von einzeln oder in Gruppen angeordneten Flüssigkeits- oder Lebensmittelbehältern sind,
    wobei die vorgelagerte Station (3) am Ausgang einen Ausgangsförderer (10) aufweist, welcher die Produkte (2) kontinuierlich in einer oder mehreren Reihen fördert,
    wobei die Linie dadurch gekennzeichnet ist, dass das Bewegungsmittel (4) im Wesentlichen aus wenigstens einem autonomen selbsttragenden beweglichen Wagen (5) besteht, der sich auf dem Boden bewegt und der die Produkte (2) während ihrer Bewegung innerhalb der Linie (1) transportiert.
  2. Linie (1) zur Verarbeitung nach Anspruch 1, wobei der wenigstens eine bewegliche Wagen (5) mit einem integrierten Antrieb ausgestattet ist, so dass der Wagen (5) seine eigene Bewegung selbst erzeugen kann.
  3. Linie (1) zur Verarbeitung nach einem der Ansprüche 1 oder 2, wobei
    der wenigstens eine Wagen (5) in der Lage ist, selbst seine Fahrtroute zwischen seiner Abfahrtsstation (3) und seiner Ankunftsstation (3) zu bestimmen, unter Berücksichtigung insbesondere der für den Weg vorgesehenen Zeit, der zu umfahrenden Hindernisse usw.
  4. Linie (1) zur Verarbeitung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass sie außerdem eine Andockstation (16) zum zeitweiligen Aufnehmen von mit Produkten (2) beladenen oder nicht beladenen Wagen (5) während ihres Weges zwischen den Stationen (3) umfasst.
  5. Linie (1) nach einem der Ansprüche 1 bis 4, wobei jede Station (3) mit einem Übergabemittel ausgestattet ist, um die zu verarbeitenden Produkte (2), die auf den Wagen (5) vorhanden sind, zu entnehmen und/oder um die verarbeiteten Produkte (2) auf den Wagen (5) abzusetzen.
  6. Linie (1) nach einem der Ansprüche 1 bis 4, wobei der wenigstens eine Wagen (5) mit einem Übergabemittel ausgestattet ist, um die Produkte (2), die von einer vorgelagerten Station (3) verarbeitet wurden, abzuholen und sie zu einer nachgelagerten Station (3) zu bewegen, und/oder um am Eingang einer nachgelagerten Station (3) die Produkte abzusetzen, die zuvor von einer vorgelagerten Station (3) verarbeitet wurden und die er bewegt hat.
  7. Linie (1) nach einem der Ansprüche 1 bis 6, wobei die Stationen (3) die Produkte (2) einzeln verarbeiten und jeweils mit einem Mittel zur einzelnen Zuführung vom Typ eines endlosen Förderbandes sowie mit einem Mittel zur einzelnen Abführung vom Typ eines endlosen Förderbandes ausgestattet sind, wobei die Wagen (5) jedes Mal die Bewegung eines Loses von ähnlichen Produkten (2) zwischen den Stationen (3) sicherstellen.
  8. Verwendung von autonomen selbsttragenden beweglichen Wagen (5) als Bewegungsmittel (4) in einer Linie (1) zur Verarbeitung von Produkten (2) am Fließband, wie in einem der vorhergehenden Ansprüche beansprucht, welche einerseits mehrere Stationen (3) zur aufeinander folgenden Verarbeitung der Produkte (2) und andererseits ein Bewegungsmittel (4) zum Bewegen der Produkte (2) zwischen den Stationen (3) innerhalb dieser Linie (1) umfasst, wobei die Linie (1) eine Verarbeitungsfunktion zur Verpackung der Produkte (2) sicherstellt, die einem Lager zur Verteilung von Paletten, die mit zu versendenden verpackten Produkten (2) beladen sind, vorgelagert ist, wobei die Wagen (5) die Produkte (2) an einer vorgelagerten Station (3) übernehmen, an deren Ausgang diese sich dank einem Ausgangsförderer (10) kontinuierlich in einer oder mehreren Reihen bewegen, und sie an einer nachgelagerten Station (3) absetzen.
  9. Verfahren zur Verarbeitung von Produkten (2) innerhalb einer Linie (1) zur Verarbeitung von Produkten (2), wie in einem der Ansprüche 1 bis 7 beansprucht, welche eine Folge von Stationen (3) umfasst und wenigstens eine Verarbeitungsfunktion zur Verpackung sicherstellt, die einem Lager zur Verwaltung von Einheiten vom Typ von Paletten, die mit zu versendenden Produkten (2) gefüllt sind, vorgelagert ist, wobei das Verfahren Schritte umfasst, die im Wesentlichen darin bestehen, einerseits die Produkte (2) innerhalb der aufeinander folgenden Stationen (3) zu verarbeiten, insbesondere sie einzeln zu verarbeiten, und andererseits in den Räumen, welche die Linie (1) aufnehmen, die Produkte (2) bis zu einer Station (3) zwecks einer Verarbeitung und/oder von einer Station (3) weg nach einer Verarbeitung zu bewegen,
    wobei das Verfahren dadurch gekennzeichnet ist, dass die Bewegung der Produkte (2) zwischen den Stationen (3) mithilfe wenigstens eines selbsttragenden autonomen beweglichen Wagens (5) erfolgt, welcher mehrere Produkte (2) transportiert, wobei das Verfahren einen Schritt, der darin besteht, den beweglichen Wagen (5) am Ausgang einer Station (3) zu beladen, sowie einen Schritt, der darin besteht, ihn am Eingang einer Station (3) zu entladen, umfasst,
    wobei der wenigstens eine Wagen (5) die Produkte (2) an einer vorgelagerten Station (3) übernimmt, an deren Ausgang sie sich dank einem Ausgangsförderer (10) kontinuierlich in einer oder mehreren Reihen bewegen, und sie an einer nachgelagerten Station (3) absetzt.
EP16163587.5A 2015-04-02 2016-04-01 Beförderungsvorrichtung mithilfe eines autonomen wagens Revoked EP3075685B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1552867A FR3034410B1 (fr) 2015-04-02 2015-04-02 Dispositif de convoyage par chariot autonome

Publications (2)

Publication Number Publication Date
EP3075685A1 EP3075685A1 (de) 2016-10-05
EP3075685B1 true EP3075685B1 (de) 2019-06-05

Family

ID=53274674

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16163587.5A Revoked EP3075685B1 (de) 2015-04-02 2016-04-01 Beförderungsvorrichtung mithilfe eines autonomen wagens

Country Status (7)

Country Link
US (1) US11104519B2 (de)
EP (1) EP3075685B1 (de)
CN (1) CN107438574B (de)
BR (1) BR112017020943A2 (de)
CA (1) CA2979793A1 (de)
FR (1) FR3034410B1 (de)
WO (1) WO2016156754A1 (de)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107825008A (zh) * 2017-10-11 2018-03-23 沈凌云 一种自动化多工位运输设备
CN108508891B (zh) 2018-03-19 2019-08-09 珠海市一微半导体有限公司 一种机器人重定位的方法
EP3781407B1 (de) * 2018-08-01 2022-02-23 Angelo Schiestl Druckanlage und verfahren zum bedrucken von druckgut
FR3088917B1 (fr) 2018-11-23 2020-11-20 Gebo Packaging Solutions France Traitement de produits en continu avec convoyage par chariot autonome
DE102019212054B3 (de) * 2019-08-12 2020-11-05 Audi Ag Modulares Montagesystem
CN113917894B (zh) 2020-07-09 2024-04-19 讯芯电子科技（中山）有限公司 智能搬运车以及智能物料储存管理***
CN112047004A (zh) * 2020-08-14 2020-12-08 许郑 一种用于物流运输的组合型输送***及其工作方法

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US11104519B2 (en) 2021-08-31
CN107438574B (zh) 2019-11-05
BR112017020943A2 (pt) 2018-07-10
FR3034410B1 (fr) 2020-10-23
US20180086566A1 (en) 2018-03-29
FR3034410A1 (fr) 2016-10-07
WO2016156754A1 (fr) 2016-10-06
EP3075685A1 (de) 2016-10-05
CA2979793A1 (fr) 2016-10-06

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GBPR Gb: patent revoked under art. 102 of the ep convention designating the uk as contracting state

Effective date: 20220127